robotics-filters

Copyright (C) 2013
Salvatore La Bua slabua(at)gmail.com
MTM
GLB

DICGIM - University of Palermo

Table of Contents

• Introduction to the Project
• Filters
  • KalmanF01 (Linear Kalman Filter)
  • KalmanF02 (Extended Kalman Filter)
  • KalmanF03 (Extended Kalman Filter)
  • ParticleF04
  • EKFSLAM05
• LICENSE
• Screenshots
  • KalmanF01
  • KalmanF02
  • KalmanF03
  • ParticleF04
  • EKFSLAM05

Introduction to the Project

Kalman, Particle and SLAM Filters implemented for the 2012/2013 Robotics course.

Filters

KalmanF01 (Linear Kalman Filter)

The 2D robot (x, y) follows a linear path using the distance to a wall to localise itself.

KalmanF02 (Extended Kalman Filter)

The 2D robot (x, y) follows a linear path using the distance to a landmark to localise itself.

KalmanF03 (Extended Kalman Filter)

The 3D robot (x, y, θ) follows a linear path using the distance to a wall to localise itself.

ParticleF04

The 3D robot (x, y, θ) follows a linear path using the distance to the closest landmark to localise itself.

EKFSLAM05

The 3D robot (x, y, θ) follows a path defined by a series of waypoints using the distance to the landmarks to localise itself and internally build a map of the environment.

LICENSE

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Screenshots

KalmanF01

KalmanF02

KalmanF03

ParticleF04

EKFSLAM05